Advanced Navigation Packet Protocol

The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efficiency and safe design practices. It has a well defined specification and is very flexible. ANPP is proprietary and is used across all Advanced Navigation products.  A packet type can be identified by its unique Packet ID. For more information about packets, see About Packets.

The following packet types are available:

The following table lists Advanced Navigation packets by type.

Packet ID Name Length R/W
System Packets
0 Acknowledge Packet 4 R
1 Request Packet Varies W
2 Boot Mode Packet 1 R/W
3 Device Information Packet 24 R
4 Restore Factory Settings Packet 4 W
5 Reset Packet 4 W
10 Serial Port Passthrough Packet Varies R/W
Packet ID Name Length R/W
State Packets
20 System State Packet 100 R
21 Unix Time Packet 8 R
22 Formatted Time Packet 14 R
23 Status Packet 4 R
24 Position Standard Deviation Packet 12 R
25 Velocity Standard Deviation Packet 12 R
26 Euler Orientation Standard Deviation Packet 12 R
27 Quaternion Orientation Standard Deviation Packet 16 R
28 Raw Sensors Packet 48 R
29 Raw GNSS Packet 74 R/W
30 Satellites Packet 13 R
31 Detailed Satellites Packet Varies R
32 Geodetic Position Packet 24 R
33 ECEF Position Packet 24 R
34 UTM Position Packet 26 R
35 NED Velocity Packet 12 R
36 Body Velocity Packet 12 R
37 Acceleration Packet 12 R
38 Body Acceleration Packet 16 R
39 Euler Orientation Packet 12 R
40 Quaternion Orientation Packet 16 R
41 DCM Orientation Packet 36 R
42 Angular Velocity Packet 12 R
43 Angular Acceleration Packet 12 R
44 External Position and Velocity Packet 60 R/W
45 External Position Packet 36 R/W
46 External Velocity Packet 24 R/W
47 External Body Velocity Packet 16 or 24 R/W
48 External Heading Packet 8 R/W
49 Running Time Packet 8 R
50 Local Magnetic Field Packet 12 R
51 Odometer State Packet 20 R
52 External Time Packet 8 W
53 External Depth Packet 8 R/W
54 Geoid Height Packet 4 R
57 Wind Packet 12 R/W
58 Heave Packet 16 R
67 External Odometer Packet 13 W
68 External Air Data Packet 25 R/W
70 Raw DVL Data Packet 60 R
72 Gimbal State Packet 8 R/W
73 Automotive Packet 24 R
75 External Magnetometers Packet 17 R/W
80 Basestation Packet 45 R
83 Zero Angular Velocity Packet 8 W
Packet ID Name Length R/W
Configuration Packets
180 Packet Timer Period Packet 4 R/W
181 Packets Period Packet Varies R/W
182 Baud Rates Packet 17 R/W
185 Installation Alignment Packet 73 R/W
186 Filter Options Packet 17 R/W
188 GPIO Configuration Packet 13 R/W
189 Magnetic Calibration Values Packet 49 R/W
190 Magnetic Calibration Configuration Packet 1 W
191 Magnetic Calibration Status Packet 3 R
192 Odometer Configuration Packet 8 R/W
193 Set Zero Orientation Alignment Packet 5 W
194 Reference Point Offsets Packet 49 R/W
195 GPIO Output Configuration Packet 183 R/W
198 User Data Packet 64 R/W
199 GPIO Input Configuration Packet 65 R/W

Advanced Navigation Packets